SYSTEM AND METHOD FOR CONTROLLING MOTORZIED BOAT FENDER DEPLOYMENT AND RETRIEVAL SYSTEMS
A system and method for precise and consistent control of automated systems for deployment of boat fenders. The system comprises a computing device, one or more sensors, a motor controller, and a motor driver for operating motorized systems for deployment and/or retrieval of boat fenders. Various embodiments of the system use sensors and corresponding compensators to adjust the time of operation of a motor of the motorized system to ensure that the boat fender is deployed and/or retrieved to the proper height.
Priority is claimed in the application data sheet to the following patents or patent applications, the entire written description of each of which is expressly incorporated herein by reference in its entirety:
Ser. No. 17/229,439
Ser. No. 16/716,074
Ser. No. 16/130,968
Ser. No. 15/709,421
Ser. No. 15/237,603
62/360,966
Ser. No. 15/178,515
Ser. No. 14/981,858
Ser. No. 14/929,369
Ser. No. 15/054,125
62/200,089
62/165,798
62/157,857
62/153,185
62/148,725
62/153,193
Ser. No. 15/369,803
62/948,633
BACKGROUND OF THE INVENTION Field of the InventionThe disclosure relates to the field of boating, and more particularly to the field of automated deployment and retrieval of protective boat fenders for use in docking boats.
Discussion of the State of the ArtBoating, in a motorized or sail-powered craft, is both a popular recreational activity and the foundation of the seafood industry. The operator of the craft must be able to navigate it safely and also to dock it safely, whether at a stationary, land-based dock, next to another boat, or at some other, similar large adjacent object (any and all of which are hereinafter referred to as a “dock”). Boat fenders must be deployed to prevent damage to a boat upon contact with a dock. Especially in cases of stormy weather or large waves or when the hull is wet, deploying and positioning the protective boat fenders can be tricky and dangerous. Further, deployment of boat fenders must be done with a fair degree of precision and consistency to ensure that the fenders are deployed at the height above water where, without deployed fenders, the dock would make contact with the boat. Any automated system for boat fender deployment must take into account a variety of factors to ensure that the boat fenders are accurately and consistently deployed at the appropriate height.
What is needed is a system and method for precise and consistent control of motorized systems for deployment of boat fenders.
SUMMARY OF THE INVENTIONThe inventor has conceived and reduced to practice, a system and method for precise and consistent control of automated systems for deployment of boat fenders. The system comprises a computing device, one or more sensors, a motor controller, and a motor driver for operating motorized systems for deployment and/or retrieval of boat fenders. Various embodiments of the system use sensors and corresponding compensators to adjust the time of operation of a motor of the motorized system to ensure that the boat fender is deployed and/or retrieved to the proper height.
According to a preferred embodiment, a system for control of motorized systems for deployment of boat fenders is disclosed, comprising: a computing device comprising a memory and a processor; a motor rotation detection device configured to monitor rotation of an electric motor or gear as discrete pulses; a motor controller comprising a plurality of programming instructions stored in the memory which, when operating on the processor, causes the computing device to: receive a deployment height for deployment of a boat fender; calculate a number of pulses required for deployment of a boat fender to the deployment height; turn on a motor in a first direction; receive pulses from the motor rotation detection device; and turn off or reverse the motor when the number of pulses counted meets or exceeds the number of pulses required for deployment of a boat fender to the deployment height.
According to another preferred embodiment, system for control of motorized system for deployment of boat fender is disclosed, comprising: a computing device comprising a memory and a processor; a plurality of programming instructions stored in the memory which, when operating on the processor, causes the computing device to: receive a deployment height for deployment of a boat fender; activate the motor to lower a boat fender with high accuracy using a motor with an encoder, a step motor, a camera, or by increasing accuracy using software algorithm.
According to another preferred embodiment, system for control of motorized systems for retrieval of boat fenders is disclosed, comprising: a computing device comprising a memory and a processor; a plurality of programming instructions stored in the memory and operating on the processor, and configured to deploy or retract boat fender or fenders, wherein upon retraction or deploy of the fender, the system is configured to detect failures to retract in full or in part.
According to an aspect of an embodiment, the system further contains circuitry configured to reverse a voltage that drives the direct current electric motor; and the motor controller is further configured to retrieve the boat fender to a stowed height by turning on the motor in a second direction for a number of pulses that meets or exceeds a number of pulses calculated to retrieve the boat fender to the stowage height.
According to an aspect of an embodiment, the system further comprises a current sensor configured to monitor an operating current of the electric motor; an over-current detector comprising a plurality of programming instructions stored in the memory which, causes the computing device to: receive current data from the current sensor; and prompt the controller to turn off or reverse the motor driver if the operating current exceeds a defined current.
According to an aspect of an embodiment, the system further comprises an over-current sensor configured to monitor the electric motor; programming instructions stored in the memory which cause the computing device to: receive over-current data from the sensor; and prompt the controller to turn off or reverse the motor driver if the over-current sensor triggers an over-current signal.
According to an aspect of an embodiment, the computing device further contains circuitry configured to reverse a voltage that drives the electric motor; and the computing device is further configured to retrieve the boat fender to a stowed height by turning on the motor driver in a reverse direction.
According to an aspect of an embodiment, the system further comprises a current sensor configured to monitor an operating current of the electric motor; an over-current detector comprising a plurality of programming instructions stored in the memory which, causes the computing device to: receive current data from the current sensor; and prompt the controller to turn off or reverse the motor driver if the operating current exceeds a defined current;
According to an aspect of an embodiment, the software algorithm adjusts deployment time based on a motor temperature and/or a battery voltage.
According to an aspect of an embodiment, the battery voltage or motor temperature are measured at or near the battery or motor.
According to an aspect of an embodiment, the motor is a step motor, switched reluctance motor, servo motor, brushed DC electric motor, or brushless DC electric motor.
According to an aspect of an embodiment, the detection of retraction failure is based a change in motor current or a motor current level above a threshold current.
According to an aspect of an embodiment, the detection of retraction failure is based on a counter or switch or over-current sensor.
According to an aspect of an embodiment, the detection of retraction failure is based on motor movement interference or motor movement stop detected by a feedback system.
According to an aspect of an embodiment, the detection of retraction failure is based on back-emf or the motor's angular velocity.
According to an aspect of an embodiment, the motor rotation detection device is a rotary encoder or a resolver.
According to an aspect of an embodiment, the increased accuracy or retraction status detection is implemented using a camera monitoring the fender deployment or retraction.
According to an aspect of an embodiment, upon the failure detection, the operation of the system is changed or stopped, and attempts may be made to achieve a full retraction by reversals of motor movement.
According to an aspect of an embodiment, the computing device is a smartphone, a navigation plotter, a GPS device, a positioning system's device, a tablet, an industrial computerized device, a device deigned to operate as boat controller or a device modified to work as boat controller, or an embedded computing system on the boat itself, on a boat fender system, or on any other equipment on the boat.
The accompanying drawings illustrate several embodiments of the invention and, together with the description, serve to explain the principles of the invention according to the embodiments. One skilled in the art will recognize that the particular embodiments illustrated in the drawings are merely exemplary, and are not intended to limit the scope of the present invention.
The inventor has conceived, and reduced to practice, a system and method for precise and consistent control of automated systems for deployment of boat fenders. The system comprises a computing device, one or more sensors, a motor controller, and a motor driver for operating motorized systems for deployment and/or retrieval of boat fenders. Various embodiments of the system use sensors and corresponding compensators to adjust the time of operation of a motor of the motorized system to ensure that the boat fender is deployed and/or retrieved to the proper height.
In some embodiments, the controller may also take into account a geographical location. The geographical location may be the location of the boat, the location of a dock, or a relative distance between the boat and a dock. The boat fender deployment height may take into account other variables such as a height of the dock above the waterline, which may be fixed in the case of floating docks, or variable in the case of fixed docks (e.g., piers). In the case of fixed docks where the height of the dock above the waterline depends on the tides, tidal information for the dock may be used to determine the boat fender deployment height. Characteristics of the boat may also be used to determine the boat fender deployment height, such as the height of the boat's deck above the waterline and/or the height of the deployment system above the waterline.
In some embodiments, the boat fender may be retracted into and out of stowage. That stowage may be at a location remote from the placement of at least some of those fenders, for added safety and convenience. In other embodiments, the system may deploy and retract boat fenders using a motor-driven mechanism, for even greater added safety and convenience. Some embodiments may enable users to control these fenders from a mobile computing device, such as a smartphone or tablet. Some embodiments may alert the user to deploy the boat's fenders when boat speed changes or when the boat is on a trajectory that leads to a dock. That may be a new dock or previously visited dock and, in some cases, to deploy the fenders automatically, all based upon a positioning system information.
Using fender retrieval system one can dock without leaving the cockpit, improving safety and eliminating hassle. In some cases they also improve esthetics as they may store the fenders horizontally under the railing, hidden from view, eliminating the need for cumbersome fender baskets.
While docking, boats may pull fenders with a very significant force that creates tension on the fender line and may cause serious injury, particularly if a body part is wrapped in the line. Using a fender retrieval system, the captain and all passengers can be safely seated to at the cockpit or inside the boat while docking.
Embodiments using a motor may be fed from a battery. The battery can be part of the fender retriever or an integrated battery on the boat. It is well known and documented that voltage and temperature changes will change motor speed. In today's motorized fender retrieval system these speed changes may affect deployment accuracy. For example, if the controller is commanded 20 second deployment to achieved the desired deployment length, that length may change when the motor or battery temperature change. The deployment length may also change as the retriever system or boat battery voltage changes. As an example, the fender's deployed length may defer based on whether the boat is turned on or in turned off. Consequently, methods must be used to compensate for these changes to ensure consistent boat fender deployment heights.
One or more different inventions may be described in the present application. Further, for one or more of the inventions described herein, numerous alternative embodiments may be described; it should be understood that these are presented for illustrative purposes only. The described embodiments are not intended to be limiting in any sense. One or more of the inventions may be widely applicable to numerous embodiments, as is readily apparent from the disclosure. In general, embodiments are described in sufficient detail to enable those skilled in the art to practice one or more of the inventions, and it is to be understood that other embodiments may be utilized and that structural, logical, software, electrical and other changes may be made without departing from the scope of the particular inventions. Accordingly, those skilled in the art will recognize that one or more of the inventions may be practiced with various modifications and alterations. Particular features of one or more of the inventions may be described with reference to one or more particular embodiments or figures that form a part of the present disclosure, and in which are shown, by way of illustration, specific embodiments of one or more of the inventions. It should be understood, however, that such features are not limited to usage in the one or more particular embodiments or figures with reference to which they are described. The present disclosure is neither a literal description of all embodiments of one or more of the inventions nor a listing of features of one or more of the inventions that must be present in all embodiments.
Headings of sections provided in this patent application and the title of this patent application are for convenience only, and are not to be taken as limiting the disclosure in any way.
Devices that are in connection with each other need not be continuously connected with each other, unless expressly specified otherwise. In addition, devices that are in connection with each other may connect directly or indirectly through one or more intermediaries, logical or physical.
A description of an embodiment with several components in connection with each other does not imply that all such components are required. To the contrary, a variety of optional components may be described to illustrate a wide variety of possible embodiments of one or more of the inventions and in order to more fully illustrate one or more aspects of the inventions. Similarly, although process steps, method steps, algorithms or the like may be described in a sequential order, such processes, methods and algorithms may generally also work in alternate orders, unless specifically stated to the contrary. In other words, any sequence or order of steps that may be described in this patent application does not, in and of itself, indicate a requirement that the steps be performed in that order. The steps of described processes may be performed in any order practical. Further, some steps may be performed simultaneously despite being described or implied as occurring sequentially (e.g., because one step is described after the other step). Moreover, the illustration of a process by its depiction in a drawing does not imply that the illustrated process is exclusive of other variations and modifications thereto, does not imply that the illustrated process or any of its steps are necessary to one or more of the invention(s), and does not imply that the illustrated process is preferred. Also, steps are generally described once per embodiment, but this does not mean they must occur once, or that they may only occur once each time a process, method, or algorithm is carried out or executed. Some steps may be omitted in some embodiments or some occurrences, or some steps may be executed more than once in a given embodiment or occurrence.
When a single device or article is described, it will be readily apparent that more than one device or article may be used in place of a single device or article. Similarly, where more than one device or article is described, it will be readily apparent that a single device or article may be used in place of the more than one device or article.
The functionality or the features of a device may be alternatively embodied by one or more other devices that are not explicitly described as having such functionality or features. Thus, other embodiments of one or more of the inventions need not include the device itself.
Techniques and mechanisms described or referenced herein will sometimes be described in singular form for clarity. However, it should be noted that particular embodiments include multiple iterations of a technique or multiple manifestations of a mechanism unless noted otherwise. Process descriptions for computing equipment or such blocks in figures should be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process. Alternate implementations are included within the scope of embodiments of the present invention in which, for example, functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those having ordinary skill in the art.
DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTSThe system and method disclosed herein uses a lift system for fenders utilizing geographical locations to determine the time, or location, or fender deployment height, or any combination thereof for fender deployment. Additionally, the lift system may have a control system integrated in the lift mechanism housing or a control system not immediately co-located with the lift mechanism but where the control system communicates with the lift mechanism by a wired a wireless technology. The control system may be a computing device integrated into the boat, a computing device separate from the boat, or an application on a mobile device that may be hard wired or wirelessly linked (e.g., Bluetooth, WiFi, etc.) to the control system or directly control the lift system itself. The control system comprises a user interface or is connected to a device that comprises a user interface for controlling the lift system. According to one embodiment, a camera is connected to the lift system and provides a video stream allowing a user to better see the operation of the lift system and the surroundings. Further embodiments use the video stream and machine learning algorithms to determine docking sequence events such as fender deployment height, obstacles, and obstructions.
The control system may have access to any global positioning system (GPS), where the term global positioning system as used herein refers not just to the U.S.-based Global Positioning System, but to any and all local, national, or international systems for determining a geographical location including, but not limited to, the U.S. Global Positioning System (GPS), the Russian Global Navigation Satellite System (GLONASS), China's BeiDou Navigation Satellite System, the European Union Galileo positioning system, India's NAVIC, Japan's Quasi-Zenith Satellite System (QZSS), or any other electromagnetic wave based positioning system or systems. Additional aspects include using geographic locations to determine a boat trajectory to a landing slip, berth, dock, etc.
Other aspects of the lift control system includes a visual, audible, or tactile reminder to the crew to lower the fenders when approaching a dock or other geographical location, or from monitoring a boat's speed, or based on previous dockings to instruct crew where to cleat or fast cleat the line, so the fender has the appropriate height for that dock. In some cases, the control system may automatically perform the fender deployment operation (as the retention devices are motorized in those cases) based on a geographic location. Crew using the control system may manually input fender height, favorite landing stall, and user profiles (where specific settings are stored and change with each user).
In most cases the fender is positioned at the same height while docking, but in some situations different heights may be necessary. The system may learn different heights from past dockings, a local or remote database, electronic distance sensors, electrical or mechanical switches, or manual entries into the system. The lift system may also feature a learning mode where the crew first performs a manual docking while the lift system monitors the geographic locations during each event and the event itself, where an event is the changes in the lift system components. For example, during learning mode, the crew will perform a manual docking where the motors and retention devices are in an override mode allowing the crew to manually disengage the retention device and pull the line through the lift system motor, meanwhile the lift system measures the voltage generated from manually pulling the line through the motor, the activation of the retention device's switches, and calculating the line distance and time taken. During each event, the geographic location is stored and associated with that action, therefore allowing the lift system to automatically correctly perform the docking sequence in future docking events. Said sequences may be stored in a database and downloaded by other boats using the lift system.
Some embodiments regarding fender deployment height use distance sensors to detect the height of the dock and adjust the fender deployment height accordingly. Other embodiments allow for the system to store or retrieve information about tides or past tidal patterns. This information allows the system to automatically adjust fender deployment height for fixed docks according to the incoming, outgoing, and otherwise changing tides.
Other aspects include retention devices for secure stowage for fenders when not in use. In some embodiments, the cleat can be released with a controlled jerking of the line, which may be performed by a motor belonging to the lift system. In some aspects, the line may be routed inside the retention device and exit from the same opening as the fender, but it should be appreciated that according to a particular hardware arrangement the line may be able to be routed inside the retention device and exit from any point along a length of the retention device. For example, the line may be routed through an open vertical or horizontal channel to allow the line to exit and have an extra degree of freedom in movement to prevent stresses from wearing on the line or impeding movement. Some embodiments may not use retention devices but instead use the line tension created by the motor to stow the fender.
In other embodiments, each retention device may be mounted with one or more hinges so the retention device can swing out from the boat's outline, for easy deployment of a fender. Further, each retention device may be controlled for the swing-out with a lever attached to the boat and used to initiate and stop or reverse the swing-out action of the retention device. This lever may be a hinged arm and may be operated manually or by a motor. In some cases, the retention device may be mounted substantially within the boat's outline and angled so the fender may be lowered through an opening in the railing over the edge of the boat's board. The retention device may also have an additional slide extension at the bottom opening to guide the fender over the edge of the boat.
Additional aspects of the retention device include a moveable bar across the opening of the fender retention device; this bar, which can move along the cylindrical axis of the retention device and is pulled up alongside the fender into the retention device, has a small opening for guiding the line, as well as additional openings or features for guiding itself up and down the retention device. Further, an external force can make the retention device swing back into the hull line, counteracting at least a spring, connected to the hinge, that moves the retention device outside the hull line for normal operations.
The lift system may be a separate device with attachment points for a boat's railing system. Other embodiments have the lift system integrated into the boats hull either from the factory or aftermarket parts. An integrated lift system may include a door to protect the lift system, furthermore the fender could be drawn into the hull where the door could conceal the fender and lift system from theft or for aesthetic purposes. The door could be automatic to remove the need for locks. It could be integrated either inside or outside the displacement section of the boat hull.
According to one embodiment, a winch may feed the unused line into a small retention device or storage compartment that will hold the unused line. In other cases, a spool maybe used to wind on and store unused line. Further embodiments use rope in place of a line, or chains made of metal and or plastic material may be used, and the winch may have matching grooves that garb the chain links.
The lift system may be powered by the boat's 12-volt power system or other onboard power supply such as directly from the boat's battery, or by an internal or external battery pack specific to the lift system. Further embodiments include using solar panels to charge said various batteries. In each case, a manual override of the lift system is possible in the case of a power failure. According to a preferred embodiment, the lift system comprises all motors and retention devices onboard, however other embodiments allow for separate power and control systems for each retention device and/or each lift system or pairs of devices.
The lift system may include one or more of the following motors and motor shaft position measuring devices (e.g., encoder/resolver): rotary encoder, resolver, any shaft encoder, any device that converts shaft position to a digital or analog signal, step motor, switched reluctance motors, stepping motor, any brushless DC electric motor and any motor that divides a full rotation into a number of equal steps. In another aspect of the lift system, various means (e.g., video feed, change in current or resistance, time measurements, etc.) may be used to detect a tangle in the line, rope, or chain. Upon a tangle detection, the lift system may reverse the motor to allow slack in the line thus potentially removing the tangle and then once again attempt to retrieve the line.
In some embodiments, the rate of raising fender 1711 may be slowed when fender 1711 approaches an intermediate position; that is, intermediate between a deployed position and a stowed position. In a preferred embodiment, as fender 1711 just begins to enter the retention device (e.g., retention device 1701), the rate of raising fender 1711 is reduced, to reduce the likelihood of fouling and to potentially reduce the impact resulting from any misalignment, fouling, or other problem. It will be recognized by one having ordinary skill in the art that various means of detecting when to change (e.g., reduce) the rate of raising of fender 1711 may be used according to the invention. For example, a time duration of raising may be used or, if a stepper motor is used, a count of the number of steps during the raising of fender 1711 may be used. Additionally, various switches, such as electromagnetic proximity switches of mechanical switches, may be placed so that they send a signal to the control system as fender 1711 passes, for example, the lower end of retention device 1701 while being raised. In some embodiments, retention device 1701 may be partially open, with a lower circumferential ring at its lowest opening, a partially closed cylindrical portion above this lower circumferential ring, and a fully closed upper portion. In such embodiments, lowering of the rate of raising of fender 1711 into retention device 1701 would typically occur as the top of fender 1711 enters the lower ring of retention device 1701. Other variations are clearly possible, according to the invention, as will be appreciated by one having ordinary skill in the art.
In some cases, in a system with a retention device and a mechanism for stowing a boat fender, upon retracting the fender, the system shuts off the motor if an over-current arises due to a tangle in the line or a catch of the fender below the retention device. Upon such a shutdown of the motor, the system engages in a limited number of small reversals in an attempt to detangle the line and/or the fender and achieve a full retraction. Additionally, a camera and visual recognition software may be used to detect a tangle or other problem with the line or the fender, in addition to the current sensing. Further, upon attempting to retract the fender, the motor shuts off if a disturbance in the retraction motion is recognized by the visual recognition software due to a tangle in the line or a catch of the fender below the retention device. In such cases, the system engages in a limited number of reversals to attempt to detangle the line and or the fender and achieve a full retraction. Moreover, the current control may be used to aid the detangling control of the reversal of the line motion in addition to the camera. Different strategies for detangling may be used. There may also time limits for individual sets of detangling and overall attempts in order to protect the components of the system from overload/damage. Further, failure to complete retraction may result in an alert sent to an operator or other predetermined location or person.
As a further example, a system for lifting and deploying a boat fender, an open channel is used for passing through a rope or line. The line is attached at one end to a fixed location of the boat (for example the railing), the other end of the line connected to a motor unit (for example also attached to the railing). That motor is operable to pull up the fender into top resting position, where upon while retracting the fender, the motor is configured to detect changes in current, and is configured to change its operation if an overcurrent or change in current state is detected. Further, in some cases the overcurrent state detection is based at least in part on a preconfigured current limit. Also, in some other cases the overcurrent or change in current state is caused by a tangle in the line. Furthermore, in yet other cases, upon the current change detection, the system attempts to achieve a full retraction to the rest position by reversals of line movement. In other cases, a camera with visual recognition software is used instead of or in addition to current sensing. In yet other cases, an encoder connected to the motor is used instead of or in addition to current sensing. In yet other cases, a step motor is used instead of or in addition to current sensing. In other embodiments, changes in electromotive force are detected.
An additional aspect of some embodiment may comprise a program or stand-alone time counter, instead of or in addition to current sensing. In some cases, if fender retraction fails after the number of reversals, an alert is provided to an operator. In several of the herein described cases, after the user selects a height, the time to reach said height is changed based on the voltage or temperature of the batteries, to compensate for the actual speed of the motor unit(s). Further, in some cases, the system deploys to a previously determined height upon approaching a previously set area for docking. Furthermore, in some of the described embodiments, two or more motor units are used in conjunction to move the fender into the desired position. In some aspects, if the fender retraction fails after a preset number of reversals, an alert is provided to an operator. In yet other aspects the system deploys to a previously determined line length upon approaching a previously set area for docking or a default line length for example dock level and rub rail level. In some aspects the attachment to the fixed location of the boat is made thru a clamp, spring, screw or any other suitable device. Further in some aspects a safety release is added to the line, allowing removal of the fixed attachment of the line to the boat, to release the line if the force on the line is higher than a set value in order to prevent damage or safety risk. In some cases, several motor units are used in conjunction to move the fender into a desired position using a fender with center hole or without a center hole. In yet other cases, more than one motor is used, and the measures described above are reused for the additional motors.
According to one embodiment, a change in fender retrieval motor performance that occurs at two temperatures (nominal (e.g., 20 C) 2604 and elevated 2603) is being monitored. There are two major reasons for temperature change in the fender retriever's motor: (a) ambient temperature change (b) motor movement resulting from fender deployment or retrieval. According to one aspect, temperature sensors are used to detect the temperature of the fender retrieval motor (e.g, an internal air temperature, a temperature of the motor windings, etc.) 2601 ambient air 2602. The more the fender retriever is used the higher the motor temperature. Higher motor temperature will result in an increase in no-load and low-load speed 2603. While the fender is deployed the fender retriever's motor is in a low or no-load state. Therefore, the increased speed 2605 must be compensated. Not providing such compensation the fender's line length will be longer than planned 2606 and the fender may end up under the dock rather than at dock level. A fender under the dock will not provide the necessary separation between the dock and the boat and will subsequentially not property protect the boat.
It is possible for motor windings to be made of different materials such as silver, gold, copper, aluminum, or alloys depending on the electrical conductivity and temperature characteristics required for the application. Motor windings of different materials will have different temperature response characteristics, which can be compensated for, depending on the level of precision required. Using the temperature coefficient of resistance formula, the conductor material of the motor windings may be changed to support higher or lower tolerances of thermal energy variance. The equation is as follows: R=Rref[1+α(T−Tref)], where “R” is the conductor's resistance at temperature “T”. “Rref” is the conductor resistance at the reference temperature “Tref”, usually 20° C., but sometimes 0° C. “α” is the temperature coefficient of resistance for the conductor material, the values of which are easily found in electrical reference manuals.
Some embodiments may utilize stepper motors in place of traditional DC permanent magnet motors. Instead of the continuous rotation of traditional DC motors, stepper motors have windings that create discrete increments of rotation and the motor “steps” between these increments as directed by pulse-width modulations from a controller. As a result, stepper motors do not suffer from temperature speed variations of traditional DC motors. Various waveforms may be used to control stepper motors, depending on the design of the stepper motor as well as various resolutions (the number of steps per revolution) may be utilized as needed by each application
An additional embodiment comprises replacing the switch 3003 with a current sensor. Another embodiment comprises replacing the max current 3002b with a set number of pulses and changing the decision 3003 to whether encoder pulses are still being received.
Additional embodiments recognize fender failure to lift and fender full lift identification using a motor encoder and a switch. Further embodiments recognize fender failure to retrieve and fender full lift identification using a time counter, motor encoder and back-emf. The skilled person will be aware of a range of possible modifications of the various embodiments described above. Accordingly, the present invention is defined by the claims and their equivalents.
The above flow diagrams are exemplary and should not be considered limiting. Some embodiments may use fewer steps than shown in the above methods, and some embodiments may add steps in addition to those shown in the above flow diagrams.
Additional embodiments recognize fender failure to lift and fender full lift identification using a motor encoder and a switch. Further embodiments recognize fender failure to retrieve and fender full lift identification using a time counter, motor encoder and back-emf. The skilled person will be aware of a range of possible modifications of the various embodiments described above. Accordingly, the present invention is defined by the claims and their equivalents.
Claims
1. A system for control of motorized systems for deployment of boat fenders, comprising:
- a computing device comprising a memory and a processor;
- a motor rotation detection device configured to monitor rotation of an electric motor or gear as discrete pulses;
- a motor controller comprising a plurality of programming instructions stored in the memory which, when operating on the processor, causes the computing device to: receive a deployment height for deployment of a boat fender; calculate a number of pulses required for deployment of a boat fender to the deployment height; turn on a motor in a first direction; receive pulses from the motor rotation detection device; and turn off or reverse the motor when the number of pulses counted meets or exceeds the number of pulses required for deployment of a boat fender to the deployment height;
2. The system of claim 1, wherein:
- the system further contains circuitry configured to reverse a voltage that drives the direct current electric motor; and
- the motor controller is further configured to retrieve the boat fender to a stowed height by turning on the motor in a second direction for a number of pulses that meets or exceeds a number of pulses calculated to retrieve the boat fender to the stowage height.
3. The system of claim 1, further comprising:
- a current sensor configured to monitor an operating current of the electric motor;
- an over-current detector comprising a plurality of programming instructions stored in the memory which, causes the computing device to: receive current data from the current sensor; and prompt the controller to turn off or reverse the motor driver if the operating current exceeds a defined current.
4. The system of claim 1, further comprising:
- an over-current sensor configured to monitor the electric motor;
- programming instructions stored in the memory which cause the computing device to: receive over-current data from the sensor; and prompt the controller to turn off or reverse the motor driver if the over-current sensor triggers an over-current signal.
5. A system for control of motorized system for deployment of boat fender, comprising:
- a computing device comprising a memory and a processor;
- a plurality of programming instructions stored in the memory which, when operating on the processor, causes the computing device to: receive a deployment height for deployment of a boat fender; activate the motor to lower a boat fender with high accuracy using a motor with an encoder, a step motor, a camera, or by increasing accuracy using software algorithm.
6. The system of claim 5, wherein:
- the computing device further contains circuitry configured to reverse a voltage that drives the electric motor; and
- the computing device is further configured to retrieve the boat fender to a stowed height by turning on the motor driver in a reverse direction.
7. The system of claim 5, further comprising:
- a current sensor configured to monitor an operating current of the electric motor;
- an over-current detector comprising a plurality of programming instructions stored in the memory which, causes the computing device to: receive current data from the current sensor; and prompt the controller to turn off or reverse the motor driver if the operating current exceeds a defined current.
8. The system of claim 5, wherein the software algorithm adjusts deployment time based on a motor temperature and/or a battery voltage.
9. The system of claim 8, wherein the battery voltage or motor temperature are measured at or near the battery or motor.
10. The system of claim 5, wherein the motor is a step motor, switched reluctance motor, servo motor, brushed DC electric motor, or brushless DC electric motor.
11. A system for control of motorized systems for retrieval of boat fenders, comprising:
- a computing device comprising a memory and a processor;
- a plurality of programming instructions stored in the memory and operating on the processor, and configured to deploy or retract boat fender or fenders, wherein upon retraction or deploy of the fender, the system is configured to detect failures to retract in full or in part.
12. The system of claim 11, wherein the detection of retraction failure is based a change in motor current or a motor current level above a threshold current.
13. The system of claim 11, wherein the detection of retraction failure is based on a counter or switch or over-current sensor.
14. The system of claim 11, wherein the detection of retraction failure is based on motor movement interference or motor movement stop detected by a feedback system.
15. The system of claim 11, wherein the detection of retraction failure is based on back-emf or the motor's angular velocity.
16. The system of claim 1, wherein the motor rotation detection device is a rotary encoder or a resolver.
17. The system of claim 5, wherein the increased accuracy or retraction status detection is implemented using a camera monitoring the fender deployment or retraction.
18. The system of claim 11, wherein upon the failure detection, the operation of the system is changed or stopped, and attempts may be made to achieve a full retraction by reversals of motor movement.
19. The system of claim 1, wherein the computing device is a smartphone, a navigation plotter, a GPS device, a positioning system's device, a tablet, an industrial computerized device, a device deigned to operate as boat controller or a device modified to work as boat controller, or an embedded computing system on the boat itself, on a boat fender system, or on any other equipment on the boat.
Type: Application
Filed: Jun 21, 2021
Publication Date: Jan 13, 2022
Patent Grant number: 11945558
Inventor: Shmuel Sam Arditi (Discovery Bay, CA)
Application Number: 17/353,785